//------------------------------------------------------------------------------
//  <copyright file="IManagedFRI.h" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
// 
// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
// 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
//  </copyright>
//------------------------------------------------------------------------------
#pragma once

using namespace System;

namespace Microsoft 
{
    namespace Robotics
    {
        namespace Hardware
        {
            namespace KukaLBR
            {
                // Managed FRI interface
                public interface class IManagedFRI
                {
                    /// <summary> Initialize the FRI. </summary>
                    /// <returns> Status code.  0 on no error. </returns>
                    int InitializeFRI();

                    /// <summary> Blocking wait on connection by FRI client </summary>
                    /// <returns> Status code.  0 on no error. </returns>
                    int CloseFRI();

                    /// <summary> Blocking wait on connection by FRI client </summary>
                    /// <returns> Status code.  0 on no error. </returns>
                    int WaitOnFRIConnect();

                    /// <summary> Wait on a new FRI request. </summary>
                    /// <param name="ppRegisters">Array of register buffer pointers</param>
                    /// <returns> Status code.  0 on no error. </returns>
                    int GetFRIRequest(double **ppRegisters);

                    /// <summary> Send a response to the FRI request, but take no control actions in it. </summary>
                    /// <returns> Status code.  0 on no error. </returns>
                    int DoNothing();

                    /// <summary> Execute joint position control. </summary>
                    /// <param name="jointPosition"> Array of joint positions. </param>
                    /// <returns> Status code.  0 on no error. </returns>
                    int DoPositionControl(double *jointPosition);

                    /// <summary> Execute joint impedance control. </summary>
                    /// <param name="jointPosition"> Array of joint positions. </param>
                    /// <param name="jointStiffness"> Array of joint stiffness values. </param>
                    /// <param name="jointDamping"> Array of joint damping values. </param>
                    /// <param name="jointAdditionalTorque"> Array of addition joint torque values. </param>
                    /// <returns> Status code.  0 on no error. </returns>
                    int DoJointImpedanceControl(
                        double *jointPosition,
                        double *jointStiffness,
                        double *jointDamping,
                        double *jointAdditionalTorque);

                    /// <summary> Execute Cartesian impedance control. </summary>
                    /// <param name="cartesianPosition"> Array indicating desired cartesian position relative to base frame. </param>
                    /// <param name="cartesianStiffness"> Array of Cartesian stiffness values. </param>
                    /// <param name="cartesianDamping"> Array of Cartesian damping values. </param>
                    /// <param name="additionalTCPForceTorque"> Array of additional TCP force torque values. </param>
                    virtual int DoCartesianImpedanceControl(
                        double *cartesianPosition,
                        double *cartesianStiffness,
                        double *cartesianDamping,
                        double *additionalTCPForceTorque);

					// <summary> Execute Cartesian impedance control using KRL motions. </summary>
					/// <param name="cartesianPosition"> Array indicating desired cartesian position relative to base frame. </param>
					/// <param name="sequenceNumber"> Sequence number of the command. </param>
					virtual int DoKrlCartesianImpedanceControl(double *cartesianPosition, int sequenceNumber);
                };
            }
        }
    }
}
